Merge branch 'main' into display-x11-docker

PX4 · Sep 8, 2024 · 0b40c1a · 0b40c1a
2 parents 8edbd42 + bb0210e
commit 0b40c1a
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diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
@@ -77,6 +77,7 @@ pipeline {
  "matek_h743-mini_default",
  "matek_h743-slim_default",
  "matek_h743_default",
+ "micoair_h743_default",
  "modalai_fc-v1_default",
  "modalai_fc-v2_default",
  "mro_ctrl-zero-classic_default",

diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml
@@ -286,6 +286,11 @@ CONFIG:
  buildType: MiniSizeRel
  settings:
  CONFIG: matek_gnss-m9n-f4_default
+ micoair_h743_default:
+ short: micoair_h743
+ buildType: MinSizeRel
+ settings:
+ CONFIG: micoair_h743_default
  modalai_fc-v1_default:
  short: modalai_fc-v1
  buildType: MinSizeRel

diff --git a/Makefile b/Makefile
@@ -340,6 +340,7 @@ bootloaders_update: \
  matek_h743_bootloader \
  matek_h743-mini_bootloader \
  matek_h743-slim_bootloader \
+ micoair_h743_bootloader \
  modalai_fc-v2_bootloader \
  mro_ctrl-zero-classic_bootloader \
  mro_ctrl-zero-h7_bootloader \

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
@@ -14,15 +14,17 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 # Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
 param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
 param set-default RD_MAX_ACCEL 6
 param set-default RD_MAX_JERK 30
 param set-default RD_MAX_SPEED 7
-param set-default RD_HEADING_P 5
-param set-default RD_HEADING_I 0.1
+param set-default RD_YAW_RATE_P 5
+param set-default RD_YAW_RATE_I 0
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0
+param set-default RD_SPEED_P 1
+param set-default RD_SPEED_I 0
 param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 7
+param set-default RD_MISS_SPD_DEF 5
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533
 

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower b/ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
@@ -27,8 +27,8 @@ param set-default RD_YAW_RATE_P 5
 param set-default RD_MAX_ACCEL 1
 param set-default RD_MAX_JERK 3
 param set-default RD_MAX_SPEED 8
-param set-default RD_HEADING_P 5
-param set-default RD_HEADING_I 0.1
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
 param set-default RD_MAX_YAW_RATE 30
 param set-default RD_MISS_SPD_DEF 8
 param set-default RD_TRANS_DRV_TRN 0.349066

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4014_gz_x500_mono_cam_down b/ROMFS/px4fmu_common/init.d-posix/airframes/4014_gz_x500_mono_cam_down
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 mono cam
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam_down}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -85,6 +85,7 @@ px4_add_romfs_files(
  4011_gz_lawnmower
  4012_gz_rover_ackermann
  4013_gz_x500_lidar
+ 4014_gz_x500_mono_cam_down
 
  6011_gazebo-classic_typhoon_h480
  6011_gazebo-classic_typhoon_h480.post

diff --git a/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover b/ROMFS/px4fmu_common/init.d/airframes/50001_aion_robotics_r1_rover
@@ -20,3 +20,25 @@ param set-default RBCLW_ADDRESS 128
 param set-default RBCLW_FUNC1 101
 param set-default RBCLW_FUNC2 102
 param set-default RBCLW_REV 1 # reverse right wheels
+
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAN_YAW_SCALE 1
+param set-default RD_MAX_ACCEL 5
+param set-default RD_MAX_JERK 50
+param set-default RD_MAX_SPEED 2
+param set-default RD_YAW_RATE_P 0.1
+param set-default RD_YAW_RATE_I 0
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0
+param set-default RD_SPEED_P 0.5
+param set-default RD_SPEED_I 0.1
+param set-default RD_MAX_YAW_RATE 300
+param set-default RD_MISS_SPD_DEF 1.8
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+param set-default PP_LOOKAHD_GAIN 1
diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
@@ -225,7 +225,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 
  # Gazebo / Gazebo classic installation
  if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
- echo "Gazebo (Garden) will be installed"
+ echo "Gazebo (Harmonic) will be installed"
  echo "Earlier versions will be removed"
  # Add Gazebo binary repository
  sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board
@@ -85,8 +85,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

diff --git a/boards/cuav/x7pro/default.px4board b/boards/cuav/x7pro/default.px4board
@@ -79,7 +79,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -91,12 +90,10 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y
diff --git a/boards/px4/fmu-v4pro/test.px4board b/boards/px4/fmu-v4pro/test.px4board
@@ -3,6 +3,8 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y

diff --git a/boards/px4/fmu-v5/cryptotest.px4board b/boards/px4/fmu-v5/cryptotest.px4board
@@ -1,4 +1,6 @@
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_BOARD_CRYPTO=y
 CONFIG_DRIVERS_STUB_KEYSTORE=y
 CONFIG_DRIVERS_SW_CRYPTO=y

diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board
@@ -29,7 +29,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y

diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
@@ -30,7 +30,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y

diff --git a/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld b/boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
@@ -377,7 +377,6 @@
 *(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
 *(.text.imxrt_epsubmit)
 *(.text._ZN15PositionControl6updateEf)
-*(.text._ZN3Ekf29checkVerticalAccelerationBiasERKN9estimator9imuSampleE)
 *(.text._ZN23MavlinkStreamScaledIMU24sendEv)
 *(.text._ZN5PX4IO10io_reg_getEhhPtj)
 *(.text.imxrt_dma_send)

diff --git a/msg/ActionRequest.msg b/msg/ActionRequest.msg
@@ -11,7 +11,7 @@ uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6
 uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7
 
 uint8 source # how the request was triggered
-uint8 SOURCE_RC_STICK_GESTURE = 0
+uint8 SOURCE_STICK_GESTURE = 0
 uint8 SOURCE_RC_SWITCH = 1
 uint8 SOURCE_RC_BUTTON = 2
 uint8 SOURCE_RC_MODE_SLOT = 3

diff --git a/msg/BatteryStatus.msg b/msg/BatteryStatus.msg
@@ -1,67 +1,67 @@
-uint64 timestamp # time since system start (microseconds)
-bool connected # Whether or not a battery is connected, based on a voltage threshold
-float32 voltage_v # Battery voltage in volts, 0 if unknown
-float32 current_a # Battery current in amperes, -1 if unknown
-float32 current_average_a # Battery current average in amperes (for FW average in level flight), -1 if unknown
-float32 discharged_mah # Discharged amount in mAh, -1 if unknown
-float32 remaining # From 1 to 0, -1 if unknown
-float32 scale # Power scaling factor, >= 1, or -1 if unknown
-float32 time_remaining_s # predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
-float32 temperature # temperature of the battery. NaN if unknown
-uint8 cell_count # Number of cells, 0 if unknown
+uint64 timestamp  # time since system start (microseconds)
+bool connected  # Whether or not a battery is connected, based on a voltage threshold
+float32 voltage_v  # Battery voltage in volts, 0 if unknown
+float32 current_a  # Battery current in amperes, -1 if unknown
+float32 current_average_a  # Battery current average in amperes (for FW average in level flight), -1 if unknown
+float32 discharged_mah  # Discharged amount in mAh, -1 if unknown
+float32 remaining  # From 1 to 0, -1 if unknown
+float32 scale  # Power scaling factor, >= 1, or -1 if unknown
+float32 time_remaining_s  # predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
+float32 temperature  # Temperature of the battery in degrees Celcius, NaN if unknown
+uint8 cell_count  # Number of cells, 0 if unknown
 
 uint8 BATTERY_SOURCE_POWER_MODULE = 0
 uint8 BATTERY_SOURCE_EXTERNAL = 1
 uint8 BATTERY_SOURCE_ESCS = 2
-uint8 source # Battery source
-uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
-uint16 capacity # actual capacity of the battery
-uint16 cycle_count # number of discharge cycles the battery has experienced
-uint16 average_time_to_empty # predicted remaining battery capacity based on the average rate of discharge in min
-uint16 serial_number # serial number of the battery pack
-uint16 manufacture_date # manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
-uint16 state_of_health # state of health. FullChargeCapacity/DesignCapacity, 0-100%.
-uint16 max_error # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
+uint8 source  # Battery source
+uint8 priority  # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint16 capacity  # actual capacity of the battery
+uint16 cycle_count  # number of discharge cycles the battery has experienced
+uint16 average_time_to_empty  # predicted remaining battery capacity based on the average rate of discharge in min
+uint16 serial_number  # serial number of the battery pack
+uint16 manufacture_date  # manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 state_of_health  # state of health. FullChargeCapacity/DesignCapacity, 0-100%.
+uint16 max_error  # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
 uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
-uint16 interface_error # interface error counter
+uint16 interface_error  # interface error counter
 
-float32[14] voltage_cell_v # Battery individual cell voltages, 0 if unknown
-float32 max_cell_voltage_delta # Max difference between individual cell voltages
+float32[14] voltage_cell_v  # Battery individual cell voltages, 0 if unknown
+float32 max_cell_voltage_delta  # Max difference between individual cell voltages
 
-bool is_powering_off # Power off event imminent indication, false if unknown
-bool is_required # Set if the battery is explicitly required before arming
+bool is_powering_off  # Power off event imminent indication, false if unknown
+bool is_required  # Set if the battery is explicitly required before arming
 
 
-uint8 BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
-uint8 BATTERY_WARNING_LOW = 1 # warning of low voltage
-uint8 BATTERY_WARNING_CRITICAL = 2 # critical voltage, return / abort immediately
-uint8 BATTERY_WARNING_EMERGENCY = 3 # immediate landing required
-uint8 BATTERY_WARNING_FAILED = 4 # the battery has failed completely
-uint8 BATTERY_STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
-uint8 BATTERY_STATE_CHARGING = 7 # Battery is charging
+uint8 BATTERY_WARNING_NONE = 0  # no battery low voltage warning active
+uint8 BATTERY_WARNING_LOW = 1  # warning of low voltage
+uint8 BATTERY_WARNING_CRITICAL = 2  # critical voltage, return / abort immediately
+uint8 BATTERY_WARNING_EMERGENCY = 3  # immediate landing required
+uint8 BATTERY_WARNING_FAILED = 4  # the battery has failed completely
+uint8 BATTERY_STATE_UNHEALTHY = 6  # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
+uint8 BATTERY_STATE_CHARGING = 7  # Battery is charging
 
-uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
-uint8 BATTERY_FAULT_SPIKES = 1 # Voltage spikes
-uint8 BATTERY_FAULT_CELL_FAIL= 2 # One or more cells have failed
-uint8 BATTERY_FAULT_OVER_CURRENT = 3 # Over-current
-uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 # Over-temperature
-uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
-uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with battery one
-uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
-uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
-uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 # hardware problem
-uint8 BATTERY_FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
-uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element!
+uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0  # Battery has deep discharged
+uint8 BATTERY_FAULT_SPIKES = 1  # Voltage spikes
+uint8 BATTERY_FAULT_CELL_FAIL= 2  # One or more cells have failed
+uint8 BATTERY_FAULT_OVER_CURRENT = 3  # Over-current
+uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4  # Over-temperature
+uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5  # Under-temperature fault
+uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6  # Vehicle voltage is not compatible with battery one
+uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7  # Battery firmware is not compatible with current autopilot firmware
+uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8  # Battery model is not supported by the system
+uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9  # hardware problem
+uint8 BATTERY_FAULT_FAILED_TO_ARM = 10  # Battery had a problem while arming
+uint8 BATTERY_FAULT_COUNT = 11  # Counter - keep it as last element!
 
-uint16 faults # Smart battery supply status/fault flags (bitmask) for health indication.
-uint8 warning # Current battery warning
+uint16 faults  # Smart battery supply status/fault flags (bitmask) for health indication.
+uint8 warning  # Current battery warning
 
 uint8 MAX_INSTANCES = 4
 
-float32 full_charge_capacity_wh # The compensated battery capacity
-float32 remaining_capacity_wh # The compensated battery capacity remaining
-uint16 over_discharge_count # Number of battery overdischarge
-float32 nominal_voltage # Nominal voltage of the battery pack
+float32 full_charge_capacity_wh  # The compensated battery capacity
+float32 remaining_capacity_wh  # The compensated battery capacity remaining
+uint16 over_discharge_count  # Number of battery overdischarge
+float32 nominal_voltage  # Nominal voltage of the battery pack
 
 float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
 float32 ocv_estimate # [V] Open circuit voltage estimate

diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
@@ -152,6 +152,10 @@ set(msg_files
  ObstacleDistance.msg
  OffboardControlMode.msg
  OnboardComputerStatus.msg
+ OpenDroneIdArmStatus.msg
+ OpenDroneIdOperatorId.msg
+ OpenDroneIdSelfId.msg
+ OpenDroneIdSystem.msg
  OrbitStatus.msg
  OrbTest.msg
  OrbTestLarge.msg
@@ -182,6 +186,7 @@ set(msg_files
  RoverAckermannGuidanceStatus.msg
  RoverAckermannStatus.msg
  RoverDifferentialGuidanceStatus.msg
+ RoverDifferentialSetpoint.msg
  RoverDifferentialStatus.msg
  Rpm.msg
  RtlStatus.msg

diff --git a/msg/DistanceSensor.msg b/msg/DistanceSensor.msg
@@ -40,3 +40,8 @@ uint8 ROTATION_UPWARD_FACING = 24 # MAV_SENSOR_ROTATION_PITCH_90
 uint8 ROTATION_DOWNWARD_FACING = 25 # MAV_SENSOR_ROTATION_PITCH_270
 
 uint8 ROTATION_CUSTOM = 100 # MAV_SENSOR_ROTATION_CUSTOM
+
+uint8 mode # mode of operation
+uint8 DISTANCE_SENSOR_MODE_UNKNOWN = 0 # Unknown mode
+uint8 DISTANCE_SENSOR_MODE_RUN = 1 # sensor is running continuosly
+uint8 DISTANCE_SENSOR_MODE_DISABLED = 2 # sensor is disabled per request
diff --git a/msg/EstimatorStatusFlags.msg b/msg/EstimatorStatusFlags.msg
@@ -59,7 +59,6 @@ bool fs_bad_airspeed # 5 - true if fusion of the airspeed has encounte
 bool fs_bad_sideslip # 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
 bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis has encountered a numerical error
 bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error
-bool fs_bad_acc_bias # 9 - true if bad delta velocity bias estimates have been detected
 bool fs_bad_acc_vertical # 10 - true if bad vertical accelerometer data has been detected
 bool fs_bad_acc_clipping # 11 - true if delta velocity data contains clipping (asymmetric railing)
 

diff --git a/msg/OpenDroneIdArmStatus.msg b/msg/OpenDroneIdArmStatus.msg
@@ -0,0 +1,3 @@
+uint64 timestamp
+uint8 status
+char[50] error
diff --git a/msg/OpenDroneIdOperatorId.msg b/msg/OpenDroneIdOperatorId.msg
@@ -0,0 +1,4 @@
+uint64 timestamp
+uint8[20] id_or_mac
+uint8 operator_id_type
+char[20] operator_id
diff --git a/msg/OpenDroneIdSelfId.msg b/msg/OpenDroneIdSelfId.msg
@@ -0,0 +1,4 @@
+uint64 timestamp
+uint8[20] id_or_mac
+uint8 description_type
+char[23] description
diff --git a/msg/OpenDroneIdSystem.msg b/msg/OpenDroneIdSystem.msg
@@ -0,0 +1,13 @@
+uint64 timestamp
+uint8[20] id_or_mac
+uint8 operator_location_type
+uint8 classification_type
+int32 operator_latitude
+int32 operator_longitude
+uint16 area_count
+uint16 area_radius
+float32 area_ceiling
+float32 area_floor
+uint8 category_eu
+uint8 class_eu
+float32 operator_altitude_geo
diff --git a/msg/RoverDifferentialGuidanceStatus.msg b/msg/RoverDifferentialGuidanceStatus.msg
@@ -1,10 +1,7 @@
 uint64 timestamp # time since system start (microseconds)
 
-float32 desired_speed # [m/s] Desired forward speed for the rover
 float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
 float32 heading_error_deg # [deg] Heading error of the pure pursuit controller
-float32 pid_heading_integral # Integral of the PID for the desired yaw rate during missions
-float32 pid_throttle_integral # Integral of the PID for the throttle during missions
 uint8 state_machine # Driving state of the rover [0: SPOT_TURNING, 1: DRIVING, 2: GOAL_REACHED]
 
 # TOPICS rover_differential_guidance_status
diff --git a/msg/RoverDifferentialSetpoint.msg b/msg/RoverDifferentialSetpoint.msg
@@ -0,0 +1,9 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 forward_speed_setpoint # [m/s] Desired forward speed for the rover
+float32 forward_speed_setpoint_normalized # [-1, 1] Normalized forward speed for the rover
+float32 yaw_rate_setpoint # [rad/s] Desired yaw rate for the rover (Overriden by yaw controller if yaw_setpoint is used)
+float32 yaw_rate_setpoint_normalized # [-1, 1] Normalized yaw rate for the rover
+float32 yaw_setpoint # [rad] Desired yaw (heading) for the rover
+
+# TOPICS rover_differential_setpoint